Popular Science claims DOMO as the first robot, which is capable of sensing how hard is its grip on the object. It does it with its elastic actuators (muscles) that are set in its fingers, wrists, neck and arms. This suppleness makes Domo feel an object while pushing back against it.
Designed by Aaron Edsinger Domo is centered on integrating compliant and force sensitive manipulators into a behavior based architecture that accomplishes useful manipulation tasks in human environments.



Via: techeblog